rotary-encoder-teensy3.5

main.cpp

#include "Arduino.h"
// Written by Johan Bichel Lindegaard <[email protected]>

int aPin = 19;
int bPin = 20;

long lastPosition = 0;
long position  = 0;

// values based on calibration with min max A: 8 26 B: 8 31
int aHigh = 14;
int aLow = 12;
int bHigh = 18;
int bLow = 12;

int aL = 0;
int a = 0;
int b = 0;

/*
// calibration
int maxA = 0;
int minA = 1024;
int maxB = 0;
int minB = 1024;
*/

void setup() {
  Serial.begin(9600); // Teensy USB Serial object always communicates at native USB speed, either 12 or 480 Mbit/sec. The baud rate setting with Serial.begin(baud) is ignored 

  pinMode(aPin, INPUT_PULLUP);
  pinMode(bPin, INPUT_PULLUP);

  analogReadResolution(6); // 6 bits = 0 - 63
  analogReadAveraging(2);
  Serial.println(position);
}

void loop() {

  //calibration 
  //  Last result: A: 8 26 B: 8 31
  /*
    int s1 = analogRead(aPin);
  int s2 = analogRead(bPin);

  int changed = 0;
  if(s1 > maxA){
    maxA = s1;
    changed = 1;
  }
  if(s1 < minA){
    minA = s1;
    changed = 1;
  }
  if(s2 > maxB){
    maxB = s2;
    changed = 1;
  }
  if(s2 < minB){
    minB = s2;
    changed = 1;
  }

  if(changed){
      Serial.print(s1);
    Serial.print(" ");
    Serial.println(s2);

    Serial.print("A: ");
    Serial.print(minA);
    Serial.print(" ");
    Serial.print(maxA);
    Serial.print(" B: ");
    Serial.print(minB);
    Serial.print(" ");
    Serial.println(maxB);
  }*/
  
  int rA = analogRead(aPin);

  if(rA > aHigh){
    a = 1;
  } else if(rA < aLow){
    a = 0;
  }

  if(a != aL) {
    int rB = analogRead(bPin);

    if(rB > bHigh){
      b = 1;
    } else if(rB < bLow){
      b = 0;
    } 

    if(b != aL) {
      position++;
    } else {
      position--;
    }
  }

  aL = a;
  if(position != lastPosition){
    Serial.println(position);
    lastPosition = position;
  }
}